Method and apparatus for determining fisheye camera shadow correction parameter

ABSTRACT

A method for determining a fisheye camera shadow correction parameter, comprising: capturing and acquiring a raw image using a fisheye camera that is not installed in an outer housing; obtaining the raw image from the fisheye camera; performing statistics on luminance information and chrominance information in each block of the raw image; and calculating a correction parameter for the fisheye camera based on the luminance information and the chrominance information of each block.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims priority from Chinese PatentApplication No. 201810193867.1, filed on Mar. 9, 2018, the disclosure ofwhich is expressly incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to the field of image processingtechnology, and more particularly to a fisheye camera, storage medium,methods of determining a fisheye camera shadow correction parameter,correction, and devices therefor.

BACKGROUND

Video cameras have improved in accordance with advancements intechnology, yet still face certain problems. In particular, when a lightbeam passes through the lens of a video camera, light refraction causesthe light beam to bend. The bending of the light produces differentlevels of luminance on the overall sensor such that the portion in themiddle is much brighter than the portions near the rim. This type ofdistortion is referred to as lens shading or vignetting. A variation ora defect on the lens will increase the unevenness of light penetratingthrough the lens. Moreover, as a result of interaction with the lenscase, the light beam may be obstructed or unable to pass through.Therefore, as a result of defects on the lens and image forming medium(film or a digital sensor group), the light that passes through the lensand forms an image on a film plane (a digital sensor or film) isunevenly abated on the imaging plane and in the color spectrum. In orderto obtain an image with uniform luminance, the distortion caused by lensshading must be corrected or otherwise mitigated.

In currently available technology, the angle of a panoramic fisheyecamera is 220 degrees, the field of view (FOV) of a finished camera is190 degrees, and the outer housing is black. The image formed is smallerthan the sensor; therefore, the image is square-shaped, and the rest ofthe round interior imaging area is black. A typical shadow correctionalgorithm divides the square-shaped raw image into areas to performcorrection and compensation.

However, when performing shadow correction on an image obtained by afinished camera, with currently available technology, the black circularrim of a lens affects the statistics on the average value for luminanceor chrominance of blocks corresponding to where the black circular rimis located, so that the corrected normal imaging area near the rim ofthe lens contains portions that appear too bright or appear to be anabnormal color, thus affecting the imaging result when the camera isused by a user.

SUMMARY

The present disclosure addresses methods for improving fisheye camerashadow correction. It is an object of the present disclosure to improvethe current state of the art, to solve the aforementioned problems, andto provide improved methods for correcting fisheye camera shadow.

According to a first aspect of the invention, a fisheye camera shadowcorrection parameter determination method is provided. The methodcomprises: obtaining a raw image from a fisheye camera, the raw imagebeing captured and acquired when the fisheye camera is not installed inan outer housing; performing statistics on luminance information andchrominance information in each block of said raw image; and calculatinga correction parameter for the fisheye camera on the basis of theluminance information and the chrominance information of each block.

By capturing and acquiring the raw image when the fisheye camera is notinstalled in an outer housing, the reflection or obstruction ordinarilycaused by an outer housing of the fisheye camera during shadowcorrection may be avoided. The methods disclosed herein may thereforeensure even luminance of the raw image so that the accuracy of thecorrection parameter calculated on the basis of such raw image isensured, thereby improving the resulting shadow correction.

The raw image may be captured and acquired in an integrating sphere whensaid fisheye camera is not installed in an outer housing. The fisheyecamera may be disposed and secured in the middle of the integratingsphere by means of a jig. The field of view of a fisheye camera iscomparatively large—normally more than 180 degrees. Capturing the rawimage while the fisheye camera is disposed in an integrating sphereensures that the correction environment features even luminance in thefield of view and further ensures the accuracy of the obtainedcorrection parameter.

The fisheye camera may also comprise two fisheye lenses configured tocapture first and second raw images. The first and second raw images areseparately obtained then separately used to calculate correctionparameters for the two fisheye lenses.

According to another aspect of the invention, a method for correctingfisheye camera shadow is provided. The method comprises: obtaining acorrection parameter for a fisheye camera, wherein the correctionparameter is calculated and acquired by obtaining a raw image from thefisheye camera when said fisheye camera is not installed in an outerhousing; performing statistics on luminance information and chrominanceinformation in each block of said raw image; and calculating thecorrection parameter for said fisheye camera on the basis of theluminance information and the chrominance information of each block.

The fisheye camera may comprise two fisheye lenses, wherein obtainingthe correction parameter comprises: separately obtaining correctionparameters for the two fisheye lenses.

According to another aspect of the invention, a fisheye camera shadowcorrection parameter determination device is provided. The fisheyecamera shadow correction parameter determination device comprises: a rawimage obtaining module adapted to obtain a raw image from a fisheyecamera, the raw image being captured and acquired by the fish eye camerawhen said fisheye camera is not installed in an outer housing; astatistics module adapted to perform statistics on luminance informationand chrominance information in each block of said raw image; and acorrection parameter calculation module adapted to calculate acorrection parameter for the fisheye camera based on the luminanceinformation and the chrominance information of each block.

The raw image may be captured and acquired in an integrating sphere whensaid fisheye camera is not installed in an outer housing. The fisheyecamera may be disposed and secured in the middle of the integratingsphere by means of a jig.

The fisheye camera may comprise two fisheye lenses for capturing firstand second raw images, wherein the raw image obtaining module separatelyobtains the first raw image and a second raw image from the two fisheyelenses, and the first and second raw images are separately used tocalculate correction parameters for the two fisheye lenses.

According to another aspect of the invention, a fisheye camera shadowcorrection device is provided. The fisheye camera shadow correctiondevice comprises: a correction parameter obtaining module adapted toobtain a correction parameter for a fisheye camera, the correctionparameter being calculated and acquired by obtaining a raw image fromthe fisheye camera when said fisheye camera is not installed in an outerhousing; performing statistics on luminance information and chrominanceinformation of each block of the raw image; and calculating thecorrection parameter for said fisheye camera on the basis of theluminance information and the chrominance information of each block; anda correction module adapted to perform correction using said correctionparameter on an image captured by the fisheye camera.

The fisheye camera may comprise two fisheye lenses, wherein thecorrection parameter obtaining module separately obtains correctionparameters for the two fisheye lenses.

According to another aspect of the invention, a storage mediumcontaining computer instruction is provided. When the computerinstruction is run, steps of the fisheye camera shadow correctionparameter determination method or steps of the fisheye camera shadowcorrection method are executed.

According to another aspect of the invention, a fisheye cameracomprising a storage device and a processor are provided. The storagedevice stores a computer instruction that may be run on said processorand when the processor runs the computer instruction, steps of thefisheye camera shadow correction parameter determination method or stepsof the fisheye camera shadow correction method are executed.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not restrictive of the invention, as claimed.

DESCRIPTION OF DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments consistent with thepresent disclosure and, together with the description, serve to explainthe principles of the present disclosure.

FIG. 1 is a flowchart illustrating a fisheye camera shadow correctionparameter determination method according to one aspect of the invention;

FIG. 2 is a diagram illustrating the size of the field of view of afisheye camera not installed in an outer housing according to an aspectof the present invention;

FIG. 3 is a diagram illustrating the size of the field of view of afisheye camera installed in an outer housing according to an aspect ofthe present invention;

FIG. 4 is a diagram illustrating a relative positional relationshipbetween a jig and an integrating sphere according to an aspect of thepresent invention;

FIG. 5 is a flowchart illustrating a fisheye camera shadow correctionmethod according to an aspect of the present invention;

FIG. 6 is a structural diagram illustrating a fisheye camera shadowcorrection parameter determination device according to an aspect of thepresent invention;

FIG. 7 is a structural diagram illustrating a fisheye camera shadowcorrection device according to an aspect of the present invention.

DETAILED DESCRIPTION

Reference will now be made in detail to exemplary embodiments, examplesof which are illustrated in the accompanying drawings. The followingdescription refers to the accompanying drawings in which the samenumbers in different drawings represent the same or similar elementsunless otherwise represented. The implementations set forth in thefollowing description of exemplary embodiments do not represent allimplementations consistent with the invention. Instead, they are merelyexamples of devices and methods consistent with aspects related to theinvention as recited in the appended claims.

FIG. 1 is a flowchart illustrating a fisheye camera shadow correctionparameter determination method according to a first aspect of theinvention.

The fisheye camera shadow correction parameter determination methodillustrated in FIG. 1 may comprise the following steps:

Step S101: obtain a raw image from a fisheye camera, said raw imagebeing captured and acquired when said fisheye camera is not installed inan outer housing;

Step S102: perform statistics on the luminance information and thechrominance information in each block of the raw image; and

Step S103: calculate a correction parameter for the fisheye camera basedon the luminance information and the chrominance information of eachblock.

Though disclosed for use with a fisheye camera, it is to be understoodthat the present method may be used on other terminal devices, e.g., acomputer, a tablet computer, etc.

As previously discussed, there are numerous drawbacks to using an outerhousing with a fisheye camera, including obstruction and reflection.When the outer housing obstructs the fisheye camera, it causes a brightring to appear on the rim of the imaging area of a finished camera. Theouter housing also causes a reflection which causes the luminance or thecolor to appear uneven when the fisheye camera is imaging.

FIGS. 2 and 3 illustrate the effect that an outer housing has on afisheye camera's FOV. Both cameras comprise dual fisheye lenses thusforming a panoramic fisheye camera. As seen in FIG. 2, the fisheyecamera (also referred to as a fisheye lens) has a FOV of 220 degrees.When the fisheye camera is installed in an outer housing as illustratedin FIG. 3, the FOV narrows to 190 degrees.

Embodiments illustrated herein avoid the aforementioned drawbacks bycapturing the raw image without an outer housing. Since the fisheyecamera is not used in conjunction with an outer housing, the fisheyecamera has a larger view and the resultant image has even luminance.While dual lenses are illustrated, the fisheye camera may also be formedby a single fisheye lens. The field of view of the fisheye camera mayalso be any other implementable angle; thus, the number of lenses andFOV are illustrative and non-limiting.

To further ensure even luminance, obstructive objects on the body of thefisheye camera, such as a wire lead, may be secured to prevent bright ordark spots from forming in the raw image. This may also serve to ensurethe accuracy of the correction parameter calculated in step S103.

The raw image may be divided into a plurality of blocks. If the rawimage is an RGB image, then the luminance information and thechrominance information of each block may be acquired by performingstatistics using information in the R channel, G channel, and B channelof the raw image; for example, luminance L=⅓(R+G+B). Persons havingordinary skill in the art will understand that the RGB image may also beconverted into a YUV image, a YCrCb image, etc. The average luminanceinformation and chrominance information of each block may be calculatedusing this data.

More specifically, the luminance information of each block may be theaverage luminance value of the block, and the chrominance information ofeach block may be the average chrominance value of the block.

The correction parameter may comprise a luminance parameter and achrominance parameter. The luminance parameter may be a first ratio ofthe average luminance value of a central block and the average luminancevalue of each block; the chrominance parameter may be a second ratio ofthe average chrominance value of a central block and the averagechrominance value of each block.

The luminance and chrominance parameters may be quantified using any ofa variety of methods as would occur to one having ordinary skill in theart. For example, the luminance parameter may be quantified as theproduct of the first ratio and any implementable preset coefficient,while the chrominance parameter may be quantified as the product of thesecond ratio and any implementable preset coefficient. The method fordividing the raw image into blocks and algorithm used to calculate thecorrection parameter are similarly illustrative. Persons having ordinaryskill in the art should understand that any other implementablealgorithm may also be used to calculate the correction parameter.

The embodiments disclosed herein determine the correction parameterusing a raw image that was captured and acquired by the fisheye camerain accordance with the methods discussed above. By capturing andacquiring the raw image when the fisheye camera is not installed in anouter housing, the aforementioned drawbacks are prevented, evenluminance of the raw image and accuracy of the correction parameter areensured, and shadow correction is improved.

A correction parameter table may be stored in the fisheye camera tofacilitate the retrieval of the correction parameter when the cameracaptures an image. Specifically, the correction parameter acquired byundertaking the steps illustrated in FIG. 1 may be stored in the fisheyecamera and subsequently retrieved when shadow correction needs to beperformed on an image captured by the fisheye camera.

In one preferred example embodiment of the present invention, said rawimage is captured and acquired in an integrating sphere when saidfisheye camera is not installed in an outer housing.

FIG. 4 illustrates the positional relationship between a jig and anintegrating sphere. The jig includes a slide guide 402 and a slot 403and the integrating sphere 401 may be a hollow sphere having an interiorwall coated with a white diffusing material. The integrating sphere maybe referred to as a photometric sphere, a light-passing sphere, etc.

The fisheye camera may be slid to the middle of the integrating sphere401, e.g., the center of the sphere, by means of the slide guide 402.The fisheye camera may be secured in the middle of the integratingsphere 401 by means of the slot 403. Disposing and securing the fisheyecamera in the middle of the integrating sphere by means of the jig helpsto ensure that the fisheye camera captures and obtains the raw image.Because the field of view of a fisheye lens is comparatively large, andthe fisheye lens of a panoramic camera, in particular, is evenlarger—normally more than 180 degrees, the correction environmentprovided by an integrating sphere featuring even illumination in a largeangle range further ensures even luminance of the raw image, which inturn ensures accurate correction.

A process for calculating the correction parameter for a panoramicfisheye camera may be as follows: secure the wire lead and otherobstructive camera body parts; dispose the fisheye camera on the jig ofthe integrating sphere such that the front of the fisheye camera facesforward; start the jig manually or automatically; and begin thecorrection process in an environment where it is ensured that theluminance is even and uniform in a 220-degree field of view and noobstruction is present in the correction process; after undergoing thecorrection, the fisheye camera is turned around manually orautomatically by the jig, and the correction process is entered.

When the fisheye camera comprises two opposing fisheye lenses, as isillustrated in FIG. 2, a correction parameter needs to be separatelycalculated for each of the lenses and separately stored in the camera.Accordingly, step S101 may comprise the steps of: obtaining a first rawimage captured by the first fisheye lens, separately obtaining a secondraw image captured by the second fisheye lens, and separately tocalculating the correction parameters for the two fisheye lenses.

FIG. 5 illustrates a fisheye camera shadow correction method. The methodmay comprise the following steps:

Step S501: obtaining a correction parameter for a fisheye camera, saidcorrection parameter being calculated and acquired by means of thefollowing method: obtaining a raw image from the fisheye camera, saidraw image being captured and acquired when said fisheye camera is notinstalled in an outer housing; performing statistics on the luminanceinformation and the chrominance information in each block of said rawimage; and calculating the correction parameter for said fisheye cameraon the basis of the luminance information and the chrominanceinformation of each block;

Step S502: performing correction using said correction parameter on animage captured by said fisheye camera.

In one specific embodiment, the correction parameter obtained in StepS501 is calculated and acquired by means of the method illustrated inFIG. 1.

Due to the high accuracy of the calculated correction parameter, the useof the correction parameter in Step S502 may ensure the results of thecorrection on the image captured by the fisheye camera.

Specifically, the correction parameter may be a luminance compensationvalue and a chrominance compensation value for each block in the image.More specifically, the luminance compensation value may be a first ratioof the average luminance value of a central block and the averageluminance value of each block; the chrominance compensation value may bea second ratio of the average chrominance value of a central block andthe average chrominance value of each block.

After performing shadow correction using the correction parameter, theimage will not contain bright spot(s), bright ring(s), or abnormallycolored portions in the rim region, thus indicating that the correctionresult is good.

If the fisheye camera (e.g., a panoramic fisheye camera) comprises twofisheye lenses as discussed and described above with respect to FIG. 2,Step S501 my be modified such that the correction parameters of eachfisheye lenses is obtained separately.

FIG. 6 illustrates a fisheye camera shadow correction parameterdetermination device 60. Device 60 may comprise a raw image obtainingmodule 601, a statistics module 602, and a correction parametercalculation module 603. Raw image obtaining module 601 is adapted toobtain a raw image from a fisheye camera, said raw image being capturedand acquired when said fisheye camera is not installed in an outerhousing; statistics module 602 is adapted to perform statistics on theluminance information and the chrominance information in each block ofsaid raw image; and correction parameter calculation module 603 isadapted to calculate a correction parameter for the fisheye camera onthe basis of the luminance information and the chrominance informationof each block of said raw image.

When determining the correction parameter, the example embodiment of thepresent invention uses a raw image that is captured and acquired by thefisheye camera not installed in an outer housing. Capturing andacquiring said raw image by the fisheye camera not installed in an outerhousing may avoid the impact of reflection or obstruction caused by theouter housing of the fisheye camera during imaging; therefore, theluminance of the raw image may be ensured to be even so that theaccuracy of the correction parameter calculated on the basis of such rawimage is ensured, improving the result of shadow correction.

Preferably, said raw image is captured and acquired in an integratingsphere when said fisheye camera is not installed in an outer housing.

In one specific embodiment of the present invention, said fisheye camerais disposed and secured in the middle of said integrating sphere bymeans of a jig.

The principles and operation of fisheye camera shadow correctionparameter determination device 60 may be more fully understood in lightof the method and apparatuses disclosed in FIGS. 1-5.

FIG. 7 illustrates a fisheye camera shadow correction device 70. Device70 may comprise a correction parameter obtaining module 701 and acorrection module 702.

Correction parameter obtaining module 701 is adapted to obtain acorrection parameter for a fisheye camera, said correction parameterbeing calculated and acquired by means of the following method:obtaining a raw image from the fisheye camera, said raw image beingcaptured and acquired when said fisheye camera is not installed in anouter housing; performing statistics on the luminance information andthe chrominance information in each block of said raw image; andcalculating the correction parameter for said fisheye camera on thebasis of the luminance information and the chrominance information ofeach block.

Correction module 702 is adapted to perform correction using saidcorrection parameter on an image captured by said fisheye camera. Wherethe fisheye camera comprises two fisheye lenses, the correctionparameter obtaining module 701 separately obtains correction parametersfor each of the two fisheye lenses.

The principles and operation of fisheye camera shadow correction device70 may be more fully understood in light of the method and apparatusesdisclosed in FIGS. 1-5.

A storage medium (not shown) may be used in conjunction with theillustrated embodiments. The storage medium may comprise a ROM, a RAM, amagnetic disk, or an optical disc, etc. The storage medium may furthercomprise a non-volatile storage device or a non-transitory storagedevice, etc. According to a preferred embodiment, a computer instructionis stored on the storage medium, whereby running the instructionexecutes the steps of the method illustrated in FIG. 1 or the steps ofthe method illustrated in FIG. 5.

According to another embodiment, the fisheye camera may comprise astorage device and a processor, wherein the storage device stores acomputer instruction that may be run on said processor, and running theinstruction executes the method illustrated in FIG. 1 or the methodillustrated in FIG. 5.

It will be understood that any person having ordinary skill in the artmay make various alterations and changes without departing from theessence and scope of the present disclosure. Accordingly, the disclosureis not limited by embodiments disclosed herein and the scope ofprotection should be that as defined by the claims.

What is claimed is:
 1. A method for determining a fisheye camera shadowcorrection parameter, comprising: capturing and acquiring a raw imageusing a fisheye camera when said fisheye camera is not installed in anouter housing; obtaining the raw image from the fisheye camera;performing statistics on luminance information and chrominanceinformation in each block of the raw image; and calculating a correctionparameter for the fisheye camera based on the luminance information andthe chrominance information of each block; wherein the luminanceinformation of each block may be an average luminance value of theblock, and the chrominance information of each block may be an averagechrominance value of the block; wherein the correction parameter maycomprise a luminance parameter and a chrominance parameter, theluminance parameter may be a first ratio of the average luminance valueof a central block and the average luminance value of each block, andthe chrominance parameter may be a second ratio of the averagechrominance value of a central block and the average chrominance valueof each block; wherein the raw image is captured and acquired in anintegrating sphere; wherein the fisheye camera is disposed and securedin a middle of the integrating sphere using a jig.
 2. The method ofclaim 1, wherein the fisheye camera comprises two fisheye lenses and theraw image includes a first raw image corresponding to a first of the twofisheye lenses, and a second raw image corresponding to a second of thetwo fisheye lenses, the method further comprising: separately obtainingthe first and second raw images; using the first raw image to calculatea correction parameter of the first fisheye lens; and using the secondraw image to separately calculate a correction parameter of the secondfish eye lens.
 3. The method of claim 1, further comprising: storing thecorrection parameters in the fisheye camera so that the storedcorrection parameters are applied when the fisheye camera captures a newimage.
 4. A fisheye camera shadow correction method, comprising:capturing and acquiring a raw image using a fisheye camera that whensaid fisheye camera is not installed in an outer housing; obtaining theraw image from the fisheye camera; performing statistics on luminanceinformation and chrominance information in each block of the raw image;calculating a correction parameter for the fisheye camera based on theluminance information and the chrominance information of each block;obtaining the correction parameter; and correcting an image captured bythe fisheye camera using the correction parameter; wherein the luminanceinformation of each block may be an average luminance value of theblock, and the chrominance information of each block may be an averagechrominance value of the block; wherein the correction parameter maycomprise a luminance parameter and a chrominance parameter, theluminance parameter may be a first ratio of the average luminance valueof a central block and the average luminance value of each block, andthe chrominance parameter may be a second ratio of the averagechrominance value of a central block and the average chrominance valueof each block; wherein the raw image is captured and acquired in anintegrating sphere; wherein the fisheye camera is disposed and securedin a middle of the integrating sphere using a jig.
 5. The method ofclaim 4, wherein the correction parameter is stored in the fisheyecamera.
 6. The fisheye camera shadow correction method of claim 4,wherein the fisheye camera comprises two fisheye lenses, the methodfurther comprising: separately obtaining correction parameters for thetwo fisheye lenses.
 7. A fisheye camera shadow correction parameterdetermination device, comprising: a raw image obtaining module adaptedto obtain a raw image from a fisheye camera, said raw image beingcaptured and acquired when said fisheye camera is not installed in anouter housing; a statistics module adapted to perform statistics onluminance information and chrominance information in each block of theraw image; and a correction parameter calculation module adapted tocalculate a correction parameter for the fisheye camera based on theluminance information and the chrominance information; wherein theluminance information of each block may be an average luminance value ofthe block, and the chrominance information of each block may be anaverage chrominance value of the block; wherein the correction parametermay comprise a luminance parameter and a chrominance parameter, theluminance parameter may be a first ratio of the average luminance valueof a central block and the average luminance value of each block, andthe chrominance parameter may be a second ratio of the averagechrominance value of a central block and the average chrominance valueof each block; wherein the raw image is captured and acquired in anintegrating sphere; wherein the fisheye camera is disposed and securedin a middle of the integrating sphere using a jig.
 8. The fisheye camerashadow correction parameter determination device of claim 7, wherein thefisheye camera comprises two fisheye lenses configured to captureseparate first and second raw images; wherein the raw image obtainingmodule is configured to separately obtain the first raw image and thesecond raw image from the two fisheye lenses; the first and second rawimages for separately calculating correction parameters of the twofisheye lenses.
 9. The fisheye camera shadow correction parameterdetermination device of claim 7, further comprising: a storage moduleadapted to store the correction parameters in the fisheye camera so thatthe stored correction parameters may be applied when the fisheye cameracaptures a new image.
 10. A fisheye camera shadow correction device,comprising: a correction parameter obtaining module adapted to obtain acorrection parameter for a fisheye camera, said correction parameterbeing calculated and acquired by means of the following method:obtaining a raw image from the fisheye camera, said raw image beingcaptured and acquired when said fisheye camera is not installed in anouter housing; performing statistics on the luminance information andthe chrominance information in each block of said raw image; andcalculating the correction parameter for said fisheye camera on thebasis of the luminance information and the chrominance information ofeach block; and a correction module adapted to perform correction usingsaid correction parameter on an image captured by the fisheye camera;wherein the luminance information of each block may be an averageluminance value of the block, and the chrominance information of eachblock may be an average chrominance value of the block; wherein thecorrection parameter may comprise a luminance parameter and achrominance parameter, the luminance parameter may be a first ratio ofthe average luminance value of a central block and the average luminancevalue of each block, and the chrominance parameter may be a second ratioof the average chrominance value of a central block and the averagechrominance value of each block; wherein the raw image is captured andacquired in an integrating sphere; wherein the fisheye camera isdisposed and secured in a middle of the integrating sphere using a jig.11. The fisheye camera shadow correction device of claim 10, wherein thefisheye camera comprises two fisheye lenses and the correction parameterobtaining module is configured to separately obtain correctionparameters for the two fisheye lenses.
 12. The fisheye camera shadowcorrection device of claim 10, wherein the fisheye camera is configuredto store the correction parameter and the correction parameter obtainingmodule is configured to obtain the stored correction parameter stored inadvance.